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51 Commits

Author SHA1 Message Date
Yuval Tassa 52da7586dc Clean up includes in src/engine 
PiperOrigin-RevId: 807726978
Change-Id: I02800deb79bfb3c328d941861ded9d817e8f6e32
 2025-09-16 09:36:44 -07:00
Yuval Tassa b9900db00e Extract memory allocation functions and core utilities 
PiperOrigin-RevId: 801745499
Change-Id: Iaf05c3430769d3115743d8ab020d13148cb2eb59
 2025-09-01 03:38:25 -07:00
Yuval Tassa 5fe4224ae7 Compute sparse Jacobian transpose inside solver. 
PiperOrigin-RevId: 797745776
Change-Id: I2ec429120d0c6eb51bec340619ab178389482e69
 2025-08-21 06:55:48 -07:00
Yuval Tassa 977f94e9df Delete sparsity structures from mjData, use the ones in mjModel 
PiperOrigin-RevId: 795067950
Change-Id: If4f52e40ac49f7c6986b33ef9c8b534199dfd21a
 2025-08-14 09:13:02 -07:00
Yuval Tassa 998769a995 Return the total non-zeros from mju_sqrMatTDSparseCount. 
PiperOrigin-RevId: 772414653
Change-Id: Ic1cac868af0034196f33d08b2456be77c72cbd50
 2025-06-17 04:27:15 -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 e8c566bee1 Remove use of diagnum in solver 
PiperOrigin-RevId: 759021147
Change-Id: I9e5c85b6542380780fc487781398f406ddaad51b
 2025-05-15 00:39:28 -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 d8bebdc675 Remove unnecessary diagnum argument in mj_solveLD and mj_factorI 
PiperOrigin-RevId: 758669364
Change-Id: Icfefc4a7a1e7d28da373725358ccf9d5f589f689
 2025-05-14 07:13:27 -07:00
Yuval Tassa dd28b887d4 Rename C sparse structure to M in mjdata, improve docstrings. 
PiperOrigin-RevId: 758636638
Change-Id: If78acc423601d2911f514929b27f7b6d0af9ef58
 2025-05-14 05:26:19 -07:00
Yuval Tassa 1165018f71 Add island support to Newton solver 
PiperOrigin-RevId: 758618486
Change-Id: I257d78c7dc9aa4dbf7cd6d8849d8ec48201edf24
 2025-05-14 04:20:34 -07:00
Yuval Tassa a6c3a287d6 Prepare Newton solver for island support 
PiperOrigin-RevId: 758600631
Change-Id: Iac354588ad91f404a30fa035893560db60db733f
 2025-05-14 03:18:03 -07:00
Yuval Tassa 4186589738 Use mjData.M where appropriate 
PiperOrigin-RevId: 758374391
Change-Id: I9de7af7be8e41b5c300d0a04ea99082b4cefdec6
 2025-05-13 14:22:41 -07:00
Yuval Tassa 627fffdef9 Switch mjData.{qH,qLD} from full ("M") to reduced ("C") inertia matrix structure. 
PiperOrigin-RevId: 758273074
Change-Id: If1a2e663ea70044694af985e0119afd6d58115ac
 2025-05-13 10:20:32 -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 ecb769fc3a Refactor islands to be memory contiguous. 
PiperOrigin-RevId: 755803476
Change-Id: I41972b07e0d5ef5d0117c94f565b93367b87458b
 2025-05-07 05:06:27 -07:00
Yuval Tassa c2ac0d724e Add mju_gather and mju_scatter, private engine functions. 
PiperOrigin-RevId: 750245294
Change-Id: I3a14ccdd55a324d3fe206e388fb2a513772f5f5e
 2025-04-22 10:33:33 -07:00
Yuval Tassa 2624d524ba Switch mj_solveM_island to use CSR representation 
PiperOrigin-RevId: 717684720
Change-Id: I7d74a5d4aef4aa5b0c0acddf88c5b8591d63e88d
 2025-01-20 18:36:04 -08:00
Yuval Tassa 893a993bf6 Fix typos. 
PiperOrigin-RevId: 716211176
Change-Id: Ibadfe13db89ed9047832b977e918faa3c5c6d9f1
 2025-01-16 06:28:54 -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 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
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 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 2dd518734f Stop over-allocating memory in Newton solver. 
PiperOrigin-RevId: 684797464
Change-Id: I3389416cb69a8564b5119f6e3944b579893ea511
 2024-10-11 05:09:33 -07:00
Yuval Tassa 9a0dc20821 Move Newton Hessian memory allocation from stack to arena. 
PiperOrigin-RevId: 684054446
Change-Id: I4be0b216810ebbd9d7fa119c6a84eb08d3c16b83
 2024-10-09 08:54:54 -07:00
Yuval Tassa cf13413c0b Clean up dual solver functions. 
PiperOrigin-RevId: 680587029
Change-Id: I20c78e96785af94634361d7823b1e5caba08800d
 2024-09-30 08:31:40 -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 3437361bfb Add reduced sparse dof-dof matrix structures to mjData. 
PiperOrigin-RevId: 670919263
Change-Id: I3592de802ae84648d97230115c2e9c3437424968
 2024-09-04 04:24:02 -07:00
Yuval Tassa 772326e9eb Fix potential out-of-range write in solver statistics saving. 
PiperOrigin-RevId: 569094007
Change-Id: I2e596a7c03d76523359cae7ae7f4501b06256a38
 2023-09-28 00:58:13 -07:00
Yuval Tassa 2cc1205498 Add island support to CG solver. 
BEGIN_PUBLIC

Add island support to CG solver.

END_PUBLIC

PiperOrigin-RevId: 565653886
Change-Id: Ib971ae37dd011b8f2cbe1f88d8875e0ed657c7af
 2023-09-15 05:47:24 -07:00
Yuval Tassa 86d8b912f4 Rejigged solver statistics in preparation for islanding. 
- See public description below.
- Stopped incrementing the iteration count in saveStats().
- `sizeof(mjSolverStat) == 40`, so this ends up costing 160KB, up from 40KB.

BEGIN_PUBLIC

Changed the size of `mjData.solver`, the structure used to collect solver diagnostic information. The array is now of length `mjNISLAND * mjNSOLVER`, where each row of length `mjNSOLVER` contains separate solver statistics for each constraint island. Until solver islanding is implemented, only row 0 is used.

- The new constant `mjNISLAND` is set to 20.
- `mjNSOLVER` is reduced from 1000 to 200.
- Added `mjData.solver_nisland`, the number of islands for which the solver ran.
- `mjData.solver_niter` (renamed from mjData.solver_iter) and `mjData.solver_nnz` are now integer vectors of length `mjNISLAND`.

END_PUBLIC

PiperOrigin-RevId: 565030093
Change-Id: I773e918805c6ced79f0dab5f19ea23956760c8c5
 2023-09-13 06:18:37 -07:00
Google DeepMind 040d3efce2 Add options for controlling early termination criteria of CG/Newton linesearch. 
Useful for performance tuning models.

PiperOrigin-RevId: 563175078
Change-Id: Id64a510d6080038ea8d5876dabbf0b2b311435bb
 2023-09-06 12:02:58 -07:00
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 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
Yuval Tassa 5f3e22a45f Refactor a loop in engine_solver.c 
PiperOrigin-RevId: 560997065
Change-Id: I26540e4f750eb18d9497bf35396adbb15cc3a122
 2023-08-29 05:17:14 -07:00
Matthew Bennice 59138af10b Refactor stack allocations to have a clean byte allocation interface. 
PiperOrigin-RevId: 558881470
Change-Id: I08c45cb5fa25a1a9c39560e598e805cfa5141c3e
 2023-08-21 13:18:29 -07:00
Kyle Bayes f34cb22bd3 Reuse sparse Dof-Dof matrix to make compressed sparse M in mj_addM. 
PiperOrigin-RevId: 556823353
Change-Id: I650ac83767d60c69859aae6e38aa331f43814378
 2023-08-14 09:49:34 -07:00
Kyle Bayes 2d7d5319f7 Rework sparse addM function to support compressed sparse matrices. 
Note:

- M is still a nv x nv uncompressed sparse matrix.
- NNZ precounting still needs to be implemented using the combineSparseCount helper function.

PiperOrigin-RevId: 554452710
Change-Id: I14adf58fc3acd4ed82d864d7c2e9e96ee6b0377d
 2023-08-07 06:07:24 -07:00
Kyle Bayes ac1f41160d Add engine internal error macro mjERROR to prepend calling function to error function. 
PiperOrigin-RevId: 541584847
Change-Id: I57447e64375413ee07aa96372a402e1ced59ff4a
 2023-06-19 03:29:31 -07:00
Kyle Bayes 81d74c56e1 Separate mj_addM into dense and sparse functions. 
PiperOrigin-RevId: 539066339
Change-Id: Ide3f9644fee46a5fb1a2e79a25be162b929e2421
 2023-06-09 06:44:19 -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
Nimrod Gileadi 145fe7f354 Declare loop variables inside for loop declaration where possible. 
PiperOrigin-RevId: 518846098
Change-Id: Icdb2e5894bd80110552e29270472eeb242e6cf2c
 2023-03-23 06:49:09 -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 f4e7fa97af Add mju_mulVecMatVec, mutiplies a square matrix M by a vector x on both sides. Returns x^T * M * x. 
PiperOrigin-RevId: 474292806
Change-Id: I3432469dbe1f02ccf5a13241c7aa12d824cbe034
 2022-09-14 08:05:28 -07:00