island discovery: dfs discovery with flood fill#1102
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thowell wants to merge 7 commits intogoogle-deepmind:mainfrom
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island discovery: dfs discovery with flood fill#1102thowell wants to merge 7 commits intogoogle-deepmind:mainfrom
thowell wants to merge 7 commits intogoogle-deepmind:mainfrom
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Model fields: - ntree: number of kinematic trees - tree_dofadr: start address of tree's DOFs (ntree,) - tree_dofnum: number of DOFs in tree (ntree,) - tree_bodynum: number of bodies in tree (ntree,) - body_treeid: id of body's tree; -1 for static (nbody,) - dof_treeid: id of dof's tree (nv,) All fields are imported directly from mjModel via the dataclass field matching pattern in put_model(). Test: test_tree_structure_fields verifies all fields match MuJoCo.
- _find_tree_edges kernel scans Jacobian for tree-tree connections - On-device deduplication using radix sort and prefix sum compaction - Helper kernels: _compute_edge_keys, _init_indices, _mark_unique_edges, _compact_edges - find_tree_edges host function orchestrates the full pipeline - 5 tests: single edge, self-edge, chain, deduplication, no constraints
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matches MuJoCo's mj_floodFill() approach. This directly assigns island IDs during traversal without needing iterative label updates. Key changes: - Add _flood_fill kernel that performs sequential DFS per world - Each thread handles one world, using a stack for traversal - Directly assigns island IDs to tree_island array - Remove unused kernels (_init_labels, _compact_island_ids, _mark_roots)
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depends on #1100 and #1101