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

PiperOrigin-RevId: 714076988 Change-Id: I4c323a6e81dfb23f7972b662719bbcb688bacf4a
2025-01-10 09:22:58 -08:00
parent ca6162e6d0
commit 2409a6e537
9 changed files with 23 additions and 9 deletions
@@ -748,6 +748,7 @@ void MjDataWrapper::Serialize(std::ostream& output) const {
  X(ne);
  X(nf);
  X(nJ);
+  X(nA);
  X(nefc);
  X(nisland);
  X(time);
@@ -825,6 +826,7 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
  X(ne);
  X(nf);
  X(nJ);
+  X(nA);
  X(nefc);
  X(nisland);
  X(time);