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Improve field order and comments in mjdata.h

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PiperOrigin-RevId: 792642328
Change-Id: I59330e228a111edec9e86d93d5cdf646b0fab00e
This commit is contained in:
Yuval Tassa
2025-08-08 08:51:43 -07:00
committed by Copybara-Service
parent 50fa598d93
commit 249b0cd87d
5 changed files with 14 additions and 14 deletions
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include/mujoco/mjdata.h
+2 -2
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@@ -276,6 +276,7 @@ struct mjData_ {
int* flexedge_J_colind; // column indices in sparse Jacobian (nflexedge x nv)
mjtNum* flexedge_J; // flex edge Jacobian (nflexedge x nv)
mjtNum* flexedge_length; // flex edge lengths (nflexedge x 1)
mjtNum* bvh_aabb_dyn; // global bounding box (center, size) (nbvhdynamic x 6)
// computed by mj_fwdPosition/mj_tendon
int* ten_wrapadr; // start address of tendon's path (ntendon x 1)
@@ -304,8 +305,7 @@ struct mjData_ {
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nC x 1)
mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
// computed by mj_collisionTree
mjtNum* bvh_aabb_dyn; // global bounding box (center, size) (nbvhdynamic x 6)
// computed by mj_collision/mj_collideTree
mjtByte* bvh_active; // was bounding volume checked for collision (nbvh x 1)
//-------------------- POSITION, VELOCITY dependent
include/mujoco/mjxmacro.h
+1 -1
View File
@@ -651,6 +651,7 @@
X ( int, flexedge_J_colind, nflexedge, MJ_M(nv) ) \
X ( mjtNum, flexedge_J, nflexedge, MJ_M(nv) ) \
X ( mjtNum, flexedge_length, nflexedge, 1 ) \
X ( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
X ( int, ten_wrapadr, ntendon, 1 ) \
X ( int, ten_wrapnum, ntendon, 1 ) \
X ( int, ten_J_rownnz, ntendon, 1 ) \
@@ -670,7 +671,6 @@
XNV ( mjtNum, M, nC, 1 ) \
XNV ( mjtNum, qLD, nC, 1 ) \
X ( mjtNum, qLDiagInv, nv, 1 ) \
X ( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
X ( mjtByte, bvh_active, nbvh, 1 ) \
X ( mjtNum, flexedge_velocity, nflexedge, 1 ) \
X ( mjtNum, ten_velocity, ntendon, 1 ) \