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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_util_misc.h
+8 -2
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@@ -156,12 +156,18 @@ MJAPI void mju_d2n(mjtNum* res, const double* vec, int n);
// convert from mjtNum to double
MJAPI void mju_n2d(double* res, const mjtNum* vec, int n);
// gather
// gather mjtNums
MJAPI void mju_gather(mjtNum* res, const mjtNum* vec, const int* ind, int n);
// scatter
// scatter mjtNums
MJAPI void mju_scatter(mjtNum* res, const mjtNum* vec, const int* ind, int n);
// gather integers
MJAPI void mju_gatherInt(int* res, const int* vec, const int* ind, int n);
// scatter integers
MJAPI void mju_scatterInt(int* res, const int* vec, const int* ind, int n);
// insertion sort, increasing order
MJAPI void mju_insertionSort(mjtNum* list, int n);