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Remove transposed Jacobian fields from mjData

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No longer computed unconditionally, only ad-hoc where required.

PiperOrigin-RevId: 797753297
Change-Id: I2030fc342c98ff33575b0526dd72e2110c4fcb74
This commit is contained in:
Yuval Tassa
2025-08-21 07:20:29 -07:00
committed by Copybara-Service
parent 5fe4224ae7
commit 2f28473bc1
10 changed files with 33 additions and 178 deletions
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include/mujoco/mjxmacro.h
-10
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@@ -729,12 +729,7 @@
XNV( int, efc_J_rowadr, MJ_D(nefc), 1 ) \
XNV( int, efc_J_rowsuper, MJ_D(nefc), 1 ) \
XNV( int, efc_J_colind, MJ_D(nJ), 1 ) \
XNV( int, efc_JT_rownnz, MJ_M(nv), 1 ) \
XNV( int, efc_JT_rowadr, MJ_M(nv), 1 ) \
XNV( int, efc_JT_rowsuper, MJ_M(nv), 1 ) \
XNV( int, efc_JT_colind, MJ_D(nJ), 1 ) \
XNV( mjtNum, efc_J, MJ_D(nJ), 1 ) \
XNV( mjtNum, efc_JT, MJ_D(nJ), 1 ) \
X ( mjtNum, efc_pos, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_margin, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_frictionloss, MJ_D(nefc), 1 ) \
@@ -786,12 +781,7 @@
XNV( int, iefc_J_rowadr, MJ_D(nefc), 1 ) \
XNV( int, iefc_J_rowsuper, MJ_D(nefc), 1 ) \
XNV( int, iefc_J_colind, MJ_D(nJ), 1 ) \
XNV( int, iefc_JT_rownnz, MJ_D(nidof), 1 ) \
XNV( int, iefc_JT_rowadr, MJ_D(nidof), 1 ) \
XNV( int, iefc_JT_rowsuper, MJ_D(nidof), 1 ) \
XNV( int, iefc_JT_colind, MJ_D(nJ), 1 ) \
XNV( mjtNum, iefc_J, MJ_D(nJ), 1 ) \
XNV( mjtNum, iefc_JT, MJ_D(nJ), 1 ) \
X ( mjtNum, iefc_frictionloss, MJ_D(nefc), 1 ) \
X ( mjtNum, iefc_D, MJ_D(nefc), 1 ) \
X ( mjtNum, iefc_R, MJ_D(nefc), 1 ) \