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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_support.h
+4 -4
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@@ -120,13 +120,13 @@ MJAPI void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body);
// convert sparse inertia matrix M into full matrix
MJAPI void mj_fullM(const mjModel* m, mjtNum* dst, const mjtNum* M);
// multiply vector by inertia matrix (implementation)
MJAPI void mj_mulM_impl(mjtNum* res, const mjtNum* vec, int nv, const mjtNum* M,
const int* Madr, const int* parentid, const int* simplenum);
// multiply vector by inertia matrix
MJAPI void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
// multiply vector by inertia matrix for one dof island
MJAPI void mj_mulM_island(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec,
int island, int flg_vecunc);
// multiply vector by (inertia matrix)^(1/2)
MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);