Allow dot products with sparse vectors to specify that one vector uses uncompressed memory.

PiperOrigin-RevId: 561951337 Change-Id: I1310d7c09d9a85ad9b43877155844a9d0ce6edab
2023-09-01 07:39:27 -07:00
parent 70c5fa50f2
commit 29aa5e4a41
7 changed files with 143 additions and 50 deletions
@@ -168,7 +168,8 @@ static void residual(const mjModel* m, mjData* d, mjtNum* res, int i, int dim, i
    for (int j=0; j < dim; j++) {
      res[j] = d->efc_b[i+j] + mju_dotSparse(d->efc_AR + d->efc_AR_rowadr[i+j],
                                             d->efc_force, d->efc_AR_rownnz[i+j],
-                                             d->efc_AR_colind + d->efc_AR_rowadr[i+j]);
+                                             d->efc_AR_colind + d->efc_AR_rowadr[i+j],
+                                             /*flg_unc1=*/0);
    }
  }