Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism.

PiperOrigin-RevId: 733523931 Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
2025-03-04 17:33:48 -08:00
parent 51f6aa8b43
commit 0f563ecf31
20 changed files with 95 additions and 98 deletions
@@ -5356,7 +5356,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                     inner_type=ValueType(name='mjtNum'),
                 ),
                 doc="L'*D*L factorization of M (sparse)",
-                 array_extent=('nC',),
+                 array_extent=('nM',),
             ),
             StructFieldDecl(
                 name='qLDiagInv',
@@ -5492,7 +5492,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                     inner_type=ValueType(name='mjtNum'),
                 ),
                 doc="L'*D*L factorization of modified M",
-                 array_extent=('nC',),
+                 array_extent=('nM',),
             ),
             StructFieldDecl(
                 name='qHDiagInv',