Allow RHS vector in mj_mulM_island to use uncompressed memory.

PiperOrigin-RevId: 562605681 Change-Id: If34bceed9eade59957ac9fd9b6a41fb736b58024
2023-09-04 13:55:56 -07:00
parent 600c12533d
commit 1aa375ef9a
3 changed files with 31 additions and 6 deletions
@@ -110,7 +110,7 @@ MJAPI void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum*

 // multiply vector by inertia matrix for one dof island
 MJAPI void mj_mulM_island(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec,
-                          int island);
+                          int island, int flg_vecunc);

 // multiply vector by (inertia matrix)^(1/2)
 MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);