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Switch mj_solveM_island to use CSR representation

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PiperOrigin-RevId: 717684720
Change-Id: I7d74a5d4aef4aa5b0c0acddf88c5b8591d63e88d
This commit is contained in:
Yuval Tassa
2025-01-20 18:34:58 -08:00
committed by Copybara-Service
parent a5ab7a9515
commit 2624d524ba
4 changed files with 80 additions and 72 deletions
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src/engine/engine_solver.c
+2 -2
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@@ -895,9 +895,9 @@ static void CGupdateConstraint(const mjModel* m, mjData* d, mjCGContext* ctx) {
}
// TODO(tassa): Restore mjData const-ness.
// update grad, Mgrad
static void CGupdateGradient(const mjModel* m, const mjData* d, mjCGContext* ctx) {
static void CGupdateGradient(const mjModel* m, mjData* d, mjCGContext* ctx) {
int nv = ctx->nv;
const int* dofind = ctx->dofind;