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77 Commits

Author SHA1 Message Date
Sam Haves 799f8a300e Add parsing benchmark simulating many textures. 
PiperOrigin-RevId: 857883857
Change-Id: Ia428ff8aeba4fbaae67a6337d0856cd2b19af2e6
 2026-01-18 11:17:45 -08:00
Yuval Tassa 849a650143 Refactor mju_cholUpdateSparse to use a dense accumulator, 1.5-2x function speedup. 
PiperOrigin-RevId: 846754379
Change-Id: Ie599658db2907a26095072d97d07b99a693050dc
 2025-12-19 08:57:45 -08:00
Yuval Tassa 45b0153067 Refactor sparse Cholesky factorization into symbolic and numeric phases. 
The new symbolic function is a generalization of the function it replaces. In this CL it takes two unused temp arrays. The actual change in behavior happens in the followup.

New benchmark test output below ("L" is 2 humanoids and 100 free objects, "XL" is 100 humanoids). Note that `symbolic` is only ever called once per Newton iteration, while `numeric` is sometimes called multiple times (when the rank-1 update fails), hence timing them separately is valuable.

```
Benchmark               Time(ns)        CPU(ns)     Iterations
--------------------------------------------------------------
BM_old_L_mean              84382          84703          19547  11.807k items/s
BM_symbolic_L_mean         16345          16381          88414  61.055k items/s
BM_numeric_L_mean          10986          10994         120000  90.999k items/s
BM_old_XL_mean           1241208        1244212           1200  803.924 items/s
BM_symbolic_XL_mean       130917         131042          12720  7.631k items/s
BM_numeric_XL_mean         77004          76767          21116  13.029k items/s
```

PiperOrigin-RevId: 846704054
Change-Id: Ib0c365724d63bf2b81606ca5353756a6496c3a26
 2025-12-19 06:11:55 -08:00
Yuval Tassa 769f37b653 Implement sleeping in engine 
PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
 2025-11-07 03:33:07 -08:00
Yuval Tassa ab9575d8a6 Refactor and speed up mj_crb and add a benchmark. 
This is a no-op "prefactor" of `mj_crb` to reduce the number of lines changed in the upcoming sleeping CL. The main change here is that `mj_crb` now avoids accessing the model and data pointer repeatedly, but instead has the input and output pointers explicitly declared as local variables. A benchmark test found a healthy **14% perf bump** due to two changes:
- Adding `restrict` to `mju_mulInertVec`
- The function-local pointers.

Adding `restrict` to the local pointers had no effect. Note that `mj_crb` is not a particularly expensive function so these speed bumps are not significant per se, but rather indicative of possible future gains with these techniques.

```
Benchmark                Time(ns)        CPU(ns)     Iterations
---------------------------------------------------------------

ORGINAL BASELINE
BM_CRB_BASELINE_mean         4325           4348         993200  230.052k items/s

BASELINE + RESTRICT
BM_CRB_BASELINE_mean         4057           4090        1186150  244.573k items/s

LOCAL POINTERS + RESTRICT
BM_CRB_mean                  3772           3800        1001750  263.209k items/s
```

PiperOrigin-RevId: 815798225
Change-Id: Iffdf57b544e8e10562807c617f73ca4ccd1c614f
 2025-10-06 10:54:01 -07:00
Kyle Bayes 91257896c0 Implement faster mju_isZeroByte. 
PiperOrigin-RevId: 814148714
Change-Id: Iaf5ed9d3502eaaaee8d46a986f2db00811ae0707
 2025-10-02 02:53:53 -07:00
Sam Haves c31f11824e Add hfields to cache_hits benchmark. 
PiperOrigin-RevId: 812759213
Change-Id: I155c2db58811dd1efa56a6361fd39aac669b63e7
 2025-09-29 06:22:24 -07:00
Sam Haves e3377ceca3 Add cache hit benchmark to parsing benchmarks. 
PiperOrigin-RevId: 810495543
Change-Id: I8c10806a091f870266f2c1194b39159c1f3105e0
 2025-09-23 10:40:12 -07:00
Yuval Tassa d71d42a374 Add private function mju_isZeroByte to check for byte-wise zero. 
PiperOrigin-RevId: 810456282
Change-Id: I877d0f9225e7a783ed7ff12ce54f4ed0a7889793
 2025-09-23 08:49:43 -07:00
Yuval Tassa 681f5767b2 Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs 
PiperOrigin-RevId: 808689636
Change-Id: Ia091fb597c171a33842e62690d06f32614fbe4eb
 2025-09-18 12:28:09 -07:00
Yuval Tassa ec94bb49aa Make constraint island discovery on by default. 
Also fix latent bug in mjData serialization.

PiperOrigin-RevId: 799505349
Change-Id: I299e7cc8133fa2ec0b339a7ff3d02543e06778b1
 2025-08-26 04:27:24 -07:00
Yuval Tassa 2f28473bc1 Remove transposed Jacobian fields from mjData 
No longer computed unconditionally, only ad-hoc where required.

PiperOrigin-RevId: 797753297
Change-Id: I2030fc342c98ff33575b0526dd72e2110c4fcb74
 2025-08-21 07:21:24 -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 365cac49f8 Add benchmarks for mjSORT macro. 
PiperOrigin-RevId: 781555531
Change-Id: Ia33b5512fbf65b08931037859d8c6062b018d760
 2025-07-10 09:00:46 -07:00
Alessio Quaglino 7edbdd0ad6 Remove the Shell plugin and integrate it into the engine. 
PiperOrigin-RevId: 760688502
Change-Id: Ia70988d42b7edf571d7cb4a4f48f8fc50b51667d
 2025-05-19 10:51:25 -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 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 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 b53ed63b5f Use 2humanoid100.xml model in a benchmark test. 
PiperOrigin-RevId: 757784271
Change-Id: I7da11ab85ba9f5e023cdbe3c77d31224f3444ca5
 2025-05-12 08:59:14 -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
Kyle Bayes 606f00f802 Remove contact pruning with box-box collisions in nativeccd and add benchmarks. 
PiperOrigin-RevId: 744732382
Change-Id: I2e20b646c541ee99888f1e964302d1b4363b2dc4
 2025-04-07 08:34:04 -07:00
Kyle Bayes 467a63d203 Add BoxBox to ccd benchmarks. 
PiperOrigin-RevId: 738761460
Change-Id: If59d306748d64e9e30abe65daa746a4f8e9ec78c
 2025-03-20 05:16:33 -07:00
Yuval Tassa 0f563ecf31 Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism. 
PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
 2025-03-04 17:34:35 -08:00
Kyle Bayes ed16f2daf2 Set nativeccd as default. 
PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
 2025-02-26 09:15:15 -08:00
Alessio Quaglino c52d1b3941 Remove the particle composite (replaced by replicate). 
PiperOrigin-RevId: 730089997
Change-Id: If8d18fb56ae01241e76f84dbf7951e034026d829
 2025-02-23 03:14:11 -08:00
Yuval Tassa b516edae1b Rename inertia factorization routines: 
```
mj_factorI -> mj_factorI_legacy
mj_solveLD -> mj_solveLD_legacy
mj_factorIs -> mj_factorI
mj_solveLDs -> mj_solveLD
```

PiperOrigin-RevId: 728246367
Change-Id: I3bc7804cb96faac2ae5419ba9abfc3c1648ed4c6
 2025-02-18 09:42:05 -08:00
Yuval Tassa fb07e0d1f7 Convert qLD to CSR format. 
PiperOrigin-RevId: 728196818
Change-Id: I31bdf32e251293284426ed345019f27fd051a0e1
 2025-02-18 07:14:45 -08:00
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 5ee0654830 Roll back recent change to mjData.qLD until some issues are resolved. 
PiperOrigin-RevId: 724389161
Change-Id: I1b30ab0950ab5c5e611b1c6fc3bf3f42f964939c
 2025-02-07 10:21:42 -08:00
Yuval Tassa c27d3758c2 Convert qLD to CSR format. 
PiperOrigin-RevId: 723955038
Change-Id: I30c3dc7f59739e89ae5fff8841432bc74717ec1b
 2025-02-06 08:59:35 -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 8a5f092081 Allow CSR back-substitution to handle multiple vectors. 
PiperOrigin-RevId: 713229673
Change-Id: I7a5b43fe966cf9e482bd41e2eea6c30dd3ffa1d4
 2025-01-08 03:32:16 -08:00
Yuval Tassa ac11e5faa6 Add CSR implementation of mj_factorI 
PiperOrigin-RevId: 712498431
Change-Id: I13b52e53482ed97da8788875d4d95e2beb5ca7c1
 2025-01-06 05:48:14 -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 4510c6d290 Further speedup to CSR back-substitution using dof_simplenum. 
PiperOrigin-RevId: 711440268
Change-Id: I81cd9a6a8b8ec78d08cfbc34f60a9216ea753833
 2025-01-02 09:04:51 -08:00
Yuval Tassa ea98c57921 Clean up engine_core_smooth_benchmark_test. 
PiperOrigin-RevId: 709573203
Change-Id: I461f259c33d74b3eaf0b6fe58124fe09418c5303
 2024-12-25 07:44:25 -08:00
Copybara-Service 526637f118 Merge pull request #2276 from traversaro:reducetestboilerplate 
PiperOrigin-RevId: 707613522
Change-Id: Ic945c6b057b77f3462dbdb758139af12133f6a8f
 2024-12-18 11:22:59 -08:00
Yuval Tassa 1c4c7b012c CSR implementation of mj_solveLD. 
PiperOrigin-RevId: 704316200
Change-Id: Ibaff0284e40b3ebbe43bb489b6211ce739270e27
 2024-12-09 09:34:17 -08:00
Silvio 756a8d716a Reduce cmake test boilerplate 
All instances of mujoco_test in the code base were followed by
a call to  target_link_libraries(<testname> fixture gmock).

As anyhow mujoco_test already was calling target_link_libraries
to some predefined list of targets (mujoco and gtest_main),
this PR adds to the list of default linked targets also fixture
and gmock, to reduce the boilerplate.

Furthermore, to completly remove the need for calling
target_link_libraries after a call to mujoco_test, this PR also
add to the mujoco_test macro the ADDITIONAL_LINK_LIBRARIES
argument, that can be used if a given test needs to link some
additional targets beside the default ones.

To permit to use these new features also for mujoco benchmarks,
this PR adds a MAIN_TARGET parameter to mujoco_test, to select
if gtest_main or another target is used to provide the main
entry point to the test executable.
 2024-12-07 17:14:20 +01:00
Yuval Tassa a4a6248a06 Move AsVector utility to fixture.h 
PiperOrigin-RevId: 690577546
Change-Id: I2cebcffa1f2e3b0789f43e772e364c4762719ab3
 2024-10-28 05:52:25 -07:00
Yuval Tassa 62ec802ec1 Tweaks to benchmarks. 
- Modify parse_benchmark_test to not time the first instance of file loading.
- Improve readability of step_benchmark_test.

PiperOrigin-RevId: 680953562
Change-Id: I4569d1b946ecb49b6590ea313f0b598ffc897888
 2024-10-01 04:08:40 -07:00
Kyle Bayes 43a82e08be Add benchmark test for collisions. 
PiperOrigin-RevId: 680554813
Change-Id: I0be5b102d68aa1a54b4ceca6b2bd24fbc519f5df
 2024-09-30 06:46:25 -07:00
Yuval Tassa 4e3dc14f8e Remove model/humanoid100/humanoid100.xml (used <include>), replace with model/humanoid/humanoid100.xml (uses <attach>) 
PiperOrigin-RevId: 673123895
Change-Id: I0c3c6dac69d9fc12a6ea76d586c34503fc167bad
 2024-09-10 15:14:04 -07:00
Alessio Quaglino 4862b9e765 Remove plugin support from Composite particles. 
This functionality is replaced by FlexComp.

PiperOrigin-RevId: 672503965
Change-Id: I58953267de285f82e416f9f60576a336b7d0da4c
 2024-09-09 04:58:26 -07:00
Yuval Tassa 19d505d847 Remove unused texture attribute in some models. 
PiperOrigin-RevId: 648497401
Change-Id: I9f9a843abfb710afaf25798fa659efd92bcd7007
 2024-07-01 15:05:02 -07:00
Kyle Bayes b47d97652e Load from VFS in parsing benchmark. 
PiperOrigin-RevId: 610384849
Change-Id: Id226c30f1629d6b4bbc2231c1e998e733c27772e
 2024-02-26 06:08:11 -08:00
Alessio Quaglino 83515446b6 Add missing models to all_models and all_test_models. 
PiperOrigin-RevId: 574491634
Change-Id: I943043b21056d7f22dd1c50454deee3f49e7eac0
 2023-10-18 08:59:54 -07:00
Alessio Quaglino 6f8128dc6a Fix benchmark label for plugin flag test. 
PiperOrigin-RevId: 572891541
Change-Id: I442e31f7e4164789759be0d2c71275fdb1398955
 2023-10-12 06:53:38 -07:00