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
@@ -1320,6 +1320,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
  d->nl = 0;
  d->nefc = 0;
  d->nJ = 0;
+  d->nY = 0;
  d->nA = 0;
  d->nisland = 0;
  d->nidof = 0;