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Move square root of Delassus matrix from stack to arena

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PiperOrigin-RevId: 916852244
Change-Id: I4379553f808d0b238a1421606f806ea2d0a33d7c
This commit is contained in:
Yuval Tassa
2026-05-17 11:21:07 -07:00
committed by Copybara-Service
parent 2345663efb
commit 04042d8bf3
11 changed files with 294 additions and 188 deletions
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include/mujoco/mjxmacro.h
+5
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@@ -946,6 +946,10 @@
// array fields of mjData that are used in the dual problem
#define MJDATA_ARENA_POINTERS_DUAL \
XNV( int, efc_Y_rownnz, MJ_D(nefc), 1 ) \
XNV( int, efc_Y_rowadr, MJ_D(nefc), 1 ) \
XNV( int, efc_Y_colind, MJ_D(nY), 1 ) \
XNV( mjtNum, efc_Y, MJ_D(nY), 1 ) \
XNV( int, efc_AR_rownnz, MJ_D(nefc), 1 ) \
XNV( int, efc_AR_rowadr, MJ_D(nefc), 1 ) \
XNV( int, efc_AR_colind, MJ_D(nA), 1 ) \
@@ -1020,6 +1024,7 @@
X( int, nl ) \
X( int, nefc ) \
X( int, nJ ) \
X( int, nY ) \
X( int, nA ) \
X( int, nisland ) \
X( int, nidof ) \