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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.

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PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
This commit is contained in:
Yuval Tassa
2025-03-04 17:33:48 -08:00
committed by Copybara-Service
parent 51f6aa8b43
commit 0f563ecf31
20 changed files with 95 additions and 98 deletions
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src/engine/engine_print.c
+3 -3
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@@ -1127,12 +1127,12 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
printInertia("QM", d->qM, m, fp, float_format);
printSparse("QLD", d->qLD, m->nv, d->C_rownnz,
d->C_rowadr, d->C_colind, fp, float_format);
printSparse("QLD", d->qLD, m->nv, d->M_rownnz,
d->M_rowadr, d->M_colind, fp, float_format);
printArray("QLDIAGINV", m->nv, 1, d->qLDiagInv, fp, float_format);
if (!mju_isZero(d->qHDiagInv, m->nv)) {
printSparse("QH", d->qH, m->nv, d->C_rownnz, d->C_rowadr, d->C_colind, fp, float_format);
printSparse("QH", d->qH, m->nv, d->M_rownnz, d->M_rowadr, d->M_colind, fp, float_format);
printArray("QHDIAGINV", m->nv, 1, d->qHDiagInv, fp, float_format);
}