chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Refactor utility functions for block extraction.

Browse Source 
PiperOrigin-RevId: 908744392
Change-Id: I8d1323946870c90d5e37b1853697fb35d5291e11
This commit is contained in:
Yuval Tassa
2026-05-01 08:24:06 -07:00
committed by Copybara-Service
parent 3367b64a8e
commit f7d31e06f0
2 changed files with 89 additions and 49 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_util_sparse.h
+14 -2
View File
@@ -158,13 +158,25 @@ MJAPI void mju_sqrMatTDSparseNumeric(
// precompute res_rowadr for mju_sqrMatTDSparse using uncompressed memory
MJAPI void mju_sqrMatTDUncompressedInit(int* res_rowadr, int nc);
// extract a single block of a dense matrix
void mju_block(mjtNum* res, const mjtNum* mat, int nc_mat, int nc_res, int nr,
const int* perm_r, const int* perm_c);
// block-diagonalize a dense matrix
MJAPI void mju_blockDiag(mjtNum* res, const mjtNum* mat,
int nc_mat, int nc_res, int nb,
MJAPI void mju_blockDiag(mjtNum* res, const mjtNum* mat, int nc_mat, int nc_res, int nb,
const int* perm_r, const int* perm_c,
const int* block_nr, const int* block_nc,
const int* block_r, const int* block_c);
// extract a single block of a sparse matrix
void mju_blockSparse(
mjtNum* res, int* res_rownnz, int* res_rowadr, int* res_colind,
const mjtNum* mat, const int* rownnz, const int* rowadr, const int* colind,
int nr,
const int* perm_r, const int* perm_c,
int col_offset, int res_offset,
mjtNum* res2, const mjtNum* mat2);
// block-diagonalize a sparse matrix
MJAPI void mju_blockDiagSparse(
mjtNum* res, int* res_rownnz, int* res_rowadr, int* res_colind,