d0bdb78207
Disable island discovery for models with flexes.
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PiperOrigin-RevId: 574244981
Change-Id: I7c08b23cf5f29338a04ec684ad7a0d4d8a0397df
2023-10-17 13:17:24 -07:00
5a70ad08ab
Add Flex component.
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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
2023-10-12 10:49:35 +01:00
9902b73502
Rename mj_stackAlloc to mj_stackAllocByte.
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PiperOrigin-RevId: 566351365
Change-Id: I91541168e83b05a730113661cc9f07985ac9ff0c
2023-09-18 10:53:35 -07:00
4929077211
Remove mjMARKSTACK and mjFREESTACK macros.
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PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
2023-09-05 11:41:43 -07:00
d5292976de
Add internal utility for zeroing int vectors.
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Remove unnecessary branches in related functions.
PiperOrigin-RevId: 562768873
Change-Id: I3964a7a953d95bcd4e29137a7b590be5ffa6e311
2023-09-05 07:15:14 -07:00
9308e1d383
Add internal utility for zeroing int vectors.
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PiperOrigin-RevId: 562608956
Change-Id: I25ff1bbf9abf8fe2a636ed1d728d10ae862e04c9
2023-09-04 14:27:11 -07:00
0e36f00857
Fix more mjData stack leakages.
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PiperOrigin-RevId: 562545230
Change-Id: I2facf25b00878669dc12d5865767a44229d2ca48
2023-09-04 06:38:50 -07:00
feb8aa2fbb
Fix bugs in engine_island.c
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PiperOrigin-RevId: 562519702
Change-Id: I3075e539ccc1cef92485152721a9344f180aa4b1
2023-09-04 04:06:39 -07:00
d3ed16e78f
Add mjData.dof_islandind, indexing from dofs into islands.
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Also fix bug in allocation for constraint islands, added allocation for limit constraints.
PiperOrigin-RevId: 561083128
Change-Id: I9e01d5a5b7454ec3cf60bccadaa0f96f2c0d87d1
2023-08-29 11:06:17 -07:00
daa2ac7f8b
Rename nstack to narena, change it and pstack to count bytes.
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PiperOrigin-RevId: 561066311
Change-Id: I4d0e645e6c254dd906bfc42159e0e99149a7c6c8
2023-08-29 10:13:33 -07:00
1dad5993f0
Refactor constraint island representation.
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Required for constraint solver islanding.
Replace linked lists with `island_{dof,efc}_{num,adr,ind}`, corresponding to the standard `{rownnz,rowadr,colind}` sparse matrix representation. By effectively defining two sparse matrix structures of dimensions `nisland x nv` and `nisland x nefc`, respectively, this representation is more conducive to reuse of existing sparse matrix utility functions, while being cache-friendlier by making sequential indices adjacent in memory.
PiperOrigin-RevId: 559704957
Change-Id: I919362cbef0d5fe5acc4aa2bb4ffb17eee8223a2
2023-08-24 03:48:57 -07:00
6245edae28
Improve island discovery performance
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PiperOrigin-RevId: 557444755
Change-Id: I22a2093b563e8e144de9534917955ac403fa5599
2023-08-16 04:55:42 -07:00
3e034e38b2
Add constraint island discovery
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PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
2023-08-15 02:30:05 -07:00
Yuval Tassa