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Add mjData.nA the number of non-zeros in the constraint inverse inertia matrix.

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PiperOrigin-RevId: 714076988
Change-Id: I4c323a6e81dfb23f7972b662719bbcb688bacf4a
This commit is contained in:
Yuval Tassa
2025-01-10 09:22:58 -08:00
committed by Copybara-Service
parent ca6162e6d0
commit 2409a6e537
9 changed files with 23 additions and 9 deletions
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include/mujoco/mjdata.h
+3 -2
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@@ -198,6 +198,7 @@ struct mjData_ {
int nl; // number of limit constraints
int nefc; // number of constraints
int nJ; // number of non-zeros in constraint Jacobian
int nA; // number of non-zeros in constraint inverse inertia matrix
int nisland; // number of detected constraint islands
// global properties
@@ -419,8 +420,8 @@ struct mjData_ {
// computed by mj_projectConstraint (PGS solver)
int* efc_AR_rownnz; // number of non-zeros in AR (nefc x 1)
int* efc_AR_rowadr; // row start address in colind array (nefc x 1)
int* efc_AR_colind; // column indices in sparse AR (nefc x nefc)
mjtNum* efc_AR; // J*inv(M)*J' + R (nefc x nefc)
int* efc_AR_colind; // column indices in sparse AR (nA x 1)
mjtNum* efc_AR; // J*inv(M)*J' + R (nA x 1)
//-------------------- arena-allocated: POSITION, VELOCITY dependent