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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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wasm/codegen/generated/bindings.cc
+23
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@@ -6494,6 +6494,12 @@ struct MjData {
void set_nJ(int value) {
ptr_->nJ = value;
}
int nY() const {
return ptr_->nY;
}
void set_nY(int value) {
ptr_->nY = value;
}
int nA() const {
return ptr_->nA;
}
@@ -7005,6 +7011,18 @@ struct MjData {
emscripten::val iefc_R() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_R));
}
emscripten::val efc_Y_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_Y_rownnz));
}
emscripten::val efc_Y_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_Y_rowadr));
}
emscripten::val efc_Y_colind() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nY, ptr_->efc_Y_colind));
}
emscripten::val efc_Y() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nY, ptr_->efc_Y));
}
emscripten::val efc_AR_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_AR_rownnz));
}
@@ -11547,6 +11565,10 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("efc_J_rowsuper", &MjData::efc_J_rowsuper)
.property("efc_KBIP", &MjData::efc_KBIP)
.property("efc_R", &MjData::efc_R)
.property("efc_Y", &MjData::efc_Y)
.property("efc_Y_colind", &MjData::efc_Y_colind)
.property("efc_Y_rowadr", &MjData::efc_Y_rowadr)
.property("efc_Y_rownnz", &MjData::efc_Y_rownnz)
.property("efc_aref", &MjData::efc_aref)
.property("efc_b", &MjData::efc_b)
.property("efc_diagApprox", &MjData::efc_diagApprox)
@@ -11626,6 +11648,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("moment_rownnz", &MjData::moment_rownnz)
.property("nA", &MjData::nA, &MjData::set_nA, reference())
.property("nJ", &MjData::nJ, &MjData::set_nJ, reference())
.property("nY", &MjData::nY, &MjData::set_nY, reference())
.property("narena", &MjData::narena, &MjData::set_narena, reference())
.property("nbody_awake", &MjData::nbody_awake, &MjData::set_nbody_awake, reference())
.property("nbuffer", &MjData::nbuffer, &MjData::set_nbuffer, reference())