Provide improved mju_sqrMatTDSparse implementation that doesn't require dense memory allocation for sparse matrices.

PiperOrigin-RevId: 516812783 Change-Id: Ieb43337831d8d3b2c7f18a7facd8e0a0f2b0eff5
2023-03-15 06:55:28 -07:00
parent fe18e58ad2
commit 056e849273
7 changed files with 830 additions and 131 deletions
@@ -1365,7 +1365,7 @@ static void HessianDirect(const mjModel* m, mjData* d, mjCGContext* ctx) {
    mju_sqrMatTDSparse(ctx->H, d->efc_J, d->efc_JT, D, nefc, nv,
                       ctx->rownnz, ctx->rowadr, ctx->colind,
                       d->efc_J_rownnz, d->efc_J_rowadr,
-                       d->efc_J_colind, d->efc_J_rowsuper,
+                       d->efc_J_colind, NULL,
                       d->efc_JT_rownnz, d->efc_JT_rowadr,
                       d->efc_JT_colind, d->efc_JT_rowsuper, d);