chenlin/Mujoco_WASM
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7eb8231fdaf55429eb801740d2a3c34e2cd57b85
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39 Commits

Author SHA1 Message Date
Yuval Tassa 7eb8231fda Represent only the lower triangle in Newton solver's reduced dof-dof matrix. 
PiperOrigin-RevId: 712488529
Change-Id: Iad91c72654376539791d7856765a0d0ac9088251
 2025-01-06 04:58:55 -08:00
Yuval Tassa daed8f46c8 Don't assume compressed input in mju_transposeSparse, allow NULL pointer for matrix values, to only transpose the structure. 
PiperOrigin-RevId: 712472432
Change-Id: I6dd34583ab181f0c9677c55230cecdf0aed46f9e
 2025-01-06 03:51:35 -08:00
Yuval Tassa 6c880eb0fa Clean up mju_sqrMatTDSparse 
PiperOrigin-RevId: 711486739
Change-Id: I5f9145dcd8522a9cb372cbdf60611d7d05cb524e
 2025-01-02 12:02:10 -08:00
Yuval Tassa e42370c982 Avoid allocation and copying in implicit solver's addJTBJSparse 
PiperOrigin-RevId: 710679558
Change-Id: Ie75fdcd1127ff619c2668f568ab6a8a11e079dda
 2024-12-30 04:19:10 -08:00
Yuval Tassa a8a9607712 Inline mju_dotSparse in engine_util_sparse.h 
PiperOrigin-RevId: 709577108
Change-Id: I76547122b5780bec76a12384effcb66315f84e13
 2024-12-25 08:09:42 -08:00
Yuval Tassa 2691887500 Add engine-internal convenience macro for allocating typed arrays, improve error message. 
PiperOrigin-RevId: 705126655
Change-Id: I2bd8fada6d33a919d2fb82297f93ac57958355a4
 2024-12-11 09:04:44 -08:00
Yuval Tassa 70d944b458 micro-optimization to mju_mulMatTVecSparse 
PiperOrigin-RevId: 691431137
Change-Id: I95f94ff38ae911194b21aa220af35c7374af9739
 2024-10-30 08:41:18 -07:00
Taylor Howell a36f2cccb6 Add nnz argument for size of allocated memory to mju_dense2sparse and check if this number is too small for number of non-zeros. 
PiperOrigin-RevId: 690545825
Change-Id: I0e31cb907a1151cb2e4766d5f0cdfecb5629a2a6
 2024-10-28 03:46:50 -07:00
Taylor Howell 94e9912d28 Add mju_mulMatTVecSparse to multiply transposed sparse matrix and dense vector. 
PiperOrigin-RevId: 688535240
Change-Id: I0bacf1e911cde99014b2dcb0a1434e61a4f41d51
 2024-10-22 07:06:29 -07:00
Yuval Tassa 0ffaeb4d56 Improve comments in mju_cholFactorNNZ, clarify that this function reads from the upper triangle of the source matrix. 
PiperOrigin-RevId: 686113654
Change-Id: I029f9279d177f4cb9ff60396a26d64821aee3a6c
 2024-10-15 08:26:07 -07:00
Yuval Tassa 7ec94f46d4 Refactor Newton solver: move Hessian from arena back to the stack. 
The changes in 9a0dc20821, moving the Hessian from the stack to the arena, should be rolled back: they prevent future threading over islands. Unlike the stack, arena allocations are not thread-friendly. The reason for the original move was to save memory, but the savings are small: `O(ctx->nH)` and only linear in `nv`. The significant reduction of the Cholesky factor, from quadratic in `nv` to quadratic in the largest dof island — the reduction afforded by 2dd518734f — remains in place.

Also refactor and improve readability.

PiperOrigin-RevId: 685717356
Change-Id: Ia9ec3e44a62d459a3b9cffb578cf6479d5aa1d7f
 2024-10-14 08:34:16 -07:00
Yuval Tassa 3f3fe92860 Remove unused argument in mju_sqrMatTDSparseInit 
PiperOrigin-RevId: 682375566
Change-Id: If05f5d15a2f8925eee9dd0ebc5d485164d90d787
 2024-10-04 10:45:33 -07:00
Yuval Tassa 176345b4e1 Remove meaningless const qualifier for scalar arguments in sparse function signatures. 
PiperOrigin-RevId: 679568516
Change-Id: I910626cd9555966c3b0a9ffba4064d263b2c16e1
 2024-09-27 06:37:18 -07:00
Taylor Howell 6a6e10d779 Add mju_cholFactorNNZ to compute the number of non-zeros per row for sparse Cholesky factorization. 
PiperOrigin-RevId: 679553197
Change-Id: I6f92deec347dae97d2e219cfb5376f92e777da1a
 2024-09-27 05:39:08 -07:00
Yuval Tassa e4d4153352 Move sanitizer instrumentation to a separate header file. Fixes #2049. 
PiperOrigin-RevId: 672986547
Change-Id: I42522f4925237a73168e965364a2dd65c0f067cb
 2024-09-10 09:05:35 -07:00
Yuval Tassa a9ee497e33 Add spaces around comparison operators. 
PiperOrigin-RevId: 573620198
Change-Id: Icf295cc0dd381a4a7f0e2c94f2e12b499193e862
 2023-10-15 07:40:10 -07:00
Alessio Quaglino 5a70ad08ab Add Flex component. 
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
 2023-10-12 10:49:35 +01:00
Saran Tunyasuvunakool 4929077211 Remove mjMARKSTACK and mjFREESTACK macros. 
PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
 2023-09-05 11:41:43 -07:00
Yuval Tassa d5292976de Add internal utility for zeroing int vectors. 
Remove unnecessary branches in related functions.

PiperOrigin-RevId: 562768873
Change-Id: I3964a7a953d95bcd4e29137a7b590be5ffa6e311
 2023-09-05 07:15:14 -07:00
Yuval Tassa 9308e1d383 Add internal utility for zeroing int vectors. 
PiperOrigin-RevId: 562608956
Change-Id: I25ff1bbf9abf8fe2a636ed1d728d10ae862e04c9
 2023-09-04 14:27:11 -07:00
Yuval Tassa 29aa5e4a41 Allow dot products with sparse vectors to specify that one vector uses uncompressed memory. 
PiperOrigin-RevId: 561951337
Change-Id: I1310d7c09d9a85ad9b43877155844a9d0ce6edab
 2023-09-01 07:40:16 -07:00
Saran Tunyasuvunakool b979a26b10 Rename mj_stackAlloc to mj_stackAllocNum. 
PiperOrigin-RevId: 561040193
Change-Id: I49ea21ffb5b596471d2aacefb1961c11c5c905d0
 2023-08-29 08:43:03 -07:00
Kyle Bayes ea5e00cad8 Move mju_combineSparseCount into engine_util_sparse. 
PiperOrigin-RevId: 561025741
Change-Id: I0bdc48554928fc4545a38a8cea3bdeb593bd7ecd
 2023-08-29 07:40:53 -07:00
Kyle Bayes ba12a1354b Optimize and refactor combineSparse and combineSparseCount. 
PiperOrigin-RevId: 558126391
Change-Id: Iead14c31136e789560f3c8124b84bd4e383158f4
 2023-08-18 06:14:09 -07:00
Kyle Bayes 8ea690ed70 Remove unused parameters from mju_sqrMatTDSparseInit. 
PiperOrigin-RevId: 557114227
Change-Id: Ia7d3fedfba612a68ff01d68f1b9dadb45bd76e85
 2023-08-15 06:30:19 -07:00
Yuval Tassa 455b1cd2e2 Add spaces around comparison operators in engine source files. 
PiperOrigin-RevId: 535989348
Change-Id: I883f7e82351299933c49b35a31842b5d8d6aea04
 2023-05-28 05:02:34 -07:00
Saran Tunyasuvunakool f887c1e928 Add ASAN and MSAN instrumentation for arena and mjData stack. 
PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
 2023-05-26 09:17:26 -07:00
Kyle Bayes 9924cce4b7 Add nnz per row precount method for mju_sqrMatTDSparse. 
PiperOrigin-RevId: 521744893
Change-Id: Ie0fbfab552a680127f4acf9041b07916f8a2a490
 2023-04-04 06:21:22 -07:00
Kyle Bayes 8696247f9d Add mj_stackAllocInt to get correct size for allocating ints on mjData stack. Reducing stack memory usage by 10% - 15%. 
PiperOrigin-RevId: 517672195
Change-Id: Ie14e6c9c99e8b9e1c5d3686b77631f2df0651c67
 2023-03-18 13:04:14 -07:00
Kyle Bayes 056e849273 Provide improved mju_sqrMatTDSparse implementation that doesn't require dense memory allocation for sparse matrices. 
PiperOrigin-RevId: 516812783
Change-Id: Ieb43337831d8d3b2c7f18a7facd8e0a0f2b0eff5
 2023-03-15 06:56:16 -07:00
Yuval Tassa 7e7cb177a4 Cosmetic changes. 
PiperOrigin-RevId: 511008317
Change-Id: Id8d7cd4f4e22e0658857d16b47d51053f1477bb9
 2023-02-20 09:23:32 -08:00
Kyle Bayes ffe27d9680 Extract AVX code from sparse utils. 
PiperOrigin-RevId: 506851218
Change-Id: I23cc3ffb26face97fc2380bc9cb702cc41b8b29d
 2023-02-03 02:42:39 -08:00
Yuval Tassa a7888d473c mju_transposeSparse: extract local integer, remove extra blank line. 
PiperOrigin-RevId: 506243573
Change-Id: Ia573c9289ef1deb1cc7b5477d441752370caa470
 2023-02-01 01:27:46 -08:00
Kyle Bayes c741dfce7d Implement a more performant mju_transposeSparse that doesn't require dense memory allocation. 
PiperOrigin-RevId: 505044194
Change-Id: Ibe0e39e3ad711b2b5bdad45180ca4f83b5c8fc82
 2023-01-27 00:20:01 -08:00
Alessio Quaglino 2d304d65e5 Use memcmp for mju_compare if no AVX. 15% faster on Humanoid. 
PiperOrigin-RevId: 493324356
Change-Id: I5f71dc1a8ae40c18864ea80f00a5f86ff952f72c
 2022-12-06 09:14:33 -08:00
Alessio Quaglino 7b0fbc63f8 Speed improvement with no AVX. 40% on Linux Intel Xeon and 60% on ARM Mac. 
PiperOrigin-RevId: 488360660
Change-Id: I423269cd362fdcc2434393b691638ac6ed778ef2
 2022-11-14 07:31:32 -08:00
Saran Tunyasuvunakool b849023069 Miscellaneous linting in src/engine. 
PiperOrigin-RevId: 462415459
Change-Id: I6c79c592613c6b0a665af06faf945586bb6ba32d
 2022-07-21 10:16:49 -07:00
Yuval Tassa e6480c76a9 Remove unused imports. 
PiperOrigin-RevId: 461829404
Change-Id: I9ae44085af211013ed2b677b7d3a545ccec34605
 2022-07-19 02:11:56 -07:00
Saran Tunyasuvunakool 1913a02b40 Initial open sourcing of MuJoCo. 
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
 2022-05-23 01:08:49 -07:00