Yuval Tassa
3e034e38b2
PiperOrigin-RevId: 557067599 Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
47 lines
1.6 KiB
C
47 lines
1.6 KiB
C
// Copyright 2023 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_SRC_ENGINE_ENGINE_ISLAND_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_ISLAND_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjexport.h>
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#include <mujoco/mjmodel.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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//-------------------------- utility functions -----------------------------------------------------
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// construct sparse matrix from non-unique, unsorted edge array, return number of nonzeros
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MJAPI int mj_edge2Sparse(int* rownnz, int* rowadr, int* colind, int* edge, int ne, int nr);
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// find disjoint subgraphs ("islands") given sparse symmetric adjacency matrix
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MJAPI int mj_floodFill(int* island, int nr, const int* rownnz, const int* rowadr, const int* colind,
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int* scratch);
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//-------------------------- top-level API for island construction ---------------------------------
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// discover islands:
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// nisland, island_dofadr, dof_island, dof_islandnext, island_efcadr, efc_island, efc_islandnext
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MJAPI void mj_island(const mjModel* m, mjData* d);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_ISLAND_H_
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