Move square root of Delassus matrix from stack to arena

PiperOrigin-RevId: 916852244 Change-Id: I4379553f808d0b238a1421606f806ea2d0a33d7c
2026-05-17 11:21:07 -07:00
parent 2345663efb
commit 04042d8bf3
11 changed files with 294 additions and 188 deletions
@@ -812,6 +812,7 @@ void MjDataWrapper::Serialize(std::ostream& output) const {
  X(ne);
  X(nf);
  X(nJ);
+  X(nY);
  X(nA);
  X(nefc);
  X(nisland);
@@ -891,6 +892,7 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
  X(ne);
  X(nf);
  X(nJ);
+  X(nY);
  X(nA);
  X(nefc);
  X(nisland);