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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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src/engine/engine_io.c
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@@ -1893,6 +1893,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
d->nl = 0;
d->nefc = 0;
d->nJ = 0;
d->nA = 0;
d->nisland = 0;
// clear global properties