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32 Commits

Author SHA1 Message Date
Yuval Tassa 4a03a61734 Fix engine_util_sparse_test on MSVC 
error C2466: cannot allocate an array of constant size 0

PiperOrigin-RevId: 945988439
Change-Id: Iceb4c536665a4bb42a603a17c41b083a4b6abeea
 2026-07-10 18:28:23 -07:00
Kyle Bayes 1490336955 Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data. 
PiperOrigin-RevId: 935980153
Change-Id: I41d25bfab4935494dc984168820cb7cad123cadf
 2026-06-22 04:19:01 -07:00
Yuval Tassa 767c607f58 Add mju_sym2dense, document future breakage of mj_fullM 
PiperOrigin-RevId: 910242375
Change-Id: Ibfbdef9cfb66088723499ea257da09aee0d80938
 2026-05-04 14:25:53 -07:00
Yuval Tassa a2d0e33c0f 2-3x speedup of sparse matrix squaring. 
Split symbolic and numeric phases for sparse `M'*diag*M` computation. Microseconds per call for the monolithic vs the split approach for the 100_humanoids and 2humanoid100 models:

```
+-------+------+----------+------------+---------+
| Model | Arch | Col (µs) | Split (µs) | Speedup |
+-------+------+----------+------------+---------+
| 2H100 | x86  | 238.3    | 74.5       | 3.2x    |
+-------+------+----------+------------+---------+
|       | ARM  | 111.6    | 53.2       | 2.1x    |
+-------+------+----------+------------+---------+
| 100H  | x86  | 1325.3   | 656.2      | 2.0x    |
+-------+------+----------+------------+---------+
|       | ARM  | 594.8    | 306.6      | 1.9x    |
+-------+------+----------+------------+---------+
```

PiperOrigin-RevId: 900154308
Change-Id: Ia6e9b8e196e2ed37b723a0faf60e9731303a9619
 2026-04-15 07:19:41 -07:00
Yuval Tassa 174a50442d Allow transposing of sparse sub-matrices whose first row is > 0 
PiperOrigin-RevId: 797728559
Change-Id: I3c825118dae198333d357d2e4f248d00b0f5d8ce
 2025-08-21 05:56:33 -07:00
Yuval Tassa 45fc15b844 Speed up sparse supernode detection by combining it with transposition. 
PiperOrigin-RevId: 760673008
Change-Id: I6d66580e675fd86e5b974859383f93f87482ca16
 2025-05-19 10:14:15 -07:00
Yuval Tassa ee8abdf854 Speed up mju_sqrMatTDSparse 
PiperOrigin-RevId: 759593417
Change-Id: I0168e1f96333769d09d61e835560910d43aac608
 2025-05-16 06:42:17 -07:00
Yuval Tassa e1baa15776 Remove unnecessary argument in mju_mulSymVecSparse 
PiperOrigin-RevId: 758688536
Change-Id: Ife1099b948215363ddaa6d0b0edcf3492edcddcc
 2025-05-14 08:12:15 -07:00
Yuval Tassa 436b5a8e1f Add mju_addToSymSparse 
- Internal engine function to add a symmetric sparse matrix to a dense matrix.
- Also minor refactors to related functions.

PiperOrigin-RevId: 757954336
Change-Id: I8d8a48bcbbd5d6c618ae097a87df2bc1e6f5ef1d
 2025-05-12 16:19:43 -07:00
Yuval Tassa 755564a348 Remove unused code related to legacy island implementation. 
Also fix a docstring.

PiperOrigin-RevId: 757939564
Change-Id: I3a970fd38c63886d34cd23b1fb45617a9ce5c147
 2025-05-12 15:39:16 -07:00
Yuval Tassa 9ac5fff41d Move local function to top of test file. 
PiperOrigin-RevId: 757722664
Change-Id: Ief7d8ca9fda990bf582ca0feaa4b645f0a4bb6e7
 2025-05-12 05:36:38 -07:00
Yuval Tassa 7742f62803 Add mju_mulSymVecSparse, private engine function 
Multiply sparse symmetric matrix (only lower triangle represented) by vector

PiperOrigin-RevId: 752926934
Change-Id: I5aaae1266256aa88aee8c25e242b7a7c51ea8dd7
 2025-04-29 16:33:54 -07:00
Yuval Tassa 8078a45727 Add private functions mju_blockDiag and mju_blockDiagSparse 
PiperOrigin-RevId: 752815446
Change-Id: Ia7f73160315ce57b78a2c34bc781f00e1b0f05c4
 2025-04-29 11:31:03 -07:00
Yuval Tassa 25126e88c7 Move mju_cholFactorCount to engine_util_solve. 
PiperOrigin-RevId: 746011856
Change-Id: If9812251420053644f4eca81adb5116d370ee524
 2025-04-10 06:56:31 -07:00
Yuval Tassa e39a5df06a mju_compressSparse(): add option to compress away small elements. 
PiperOrigin-RevId: 726010576
Change-Id: Ib6458037a5cf9a9d82abb364b7dda7aab2f36807
 2025-02-12 05:08:20 -08:00
Yuval Tassa 00010f5848 Compute diagonal indices in mj_sqrMatTDSparse 
PiperOrigin-RevId: 713714087
Change-Id: Icc8eae74e6e47ba1d12a6e9aa0d774ab006cfe38
 2025-01-09 10:17:31 -08:00
Yuval Tassa 4d82ab5762 Add function to merge chains of indices. 
PiperOrigin-RevId: 712863690
Change-Id: I15652bec03dc9ce90e230788bd12b44b1a2b8217
 2025-01-07 04:42:11 -08:00
Yuval Tassa 674d227050 Standardize names of sparse fill-in pre-counting functions 
PiperOrigin-RevId: 712835830
Change-Id: I8e90dfa52af56ede917e1fd90b8d551898c244e5
 2025-01-07 02:39:46 -08:00
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
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
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 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
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 8ea690ed70 Remove unused parameters from mju_sqrMatTDSparseInit. 
PiperOrigin-RevId: 557114227
Change-Id: Ia7d3fedfba612a68ff01d68f1b9dadb45bd76e85
 2023-08-15 06:30:19 -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 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
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 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