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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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test/engine/engine_island_test.cc
-21
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@@ -467,27 +467,6 @@ TEST_F(IslandTest, IslandJacobian) {
EXPECT_EQ(J_island[i * nv_island + j], J[efc * nv + dof]);
}
}
// === test JT (if sparse)
// get pointer to J_island, dense (nefc_island x nv_island) submatrix
if (jac == mjJAC_SPARSE) {
// dense copy of island in iJ (here used as scratch)
mju_sparse2dense(iJ, d->iefc_JT, nv_island, nefc_island,
d->iefc_JT_rownnz + idof,
d->iefc_JT_rowadr + idof,
d->iefc_JT_colind);
J_island = iJ;
// sequential memory in J_island equals random access memory in J
for (int i=0; i < nv_island; i++) {
for (int j=0; j < nefc_island; j++) {
int dof = d->map_idof2dof[idof + i];
int efc = d->map_iefc2efc[iefc + j];
EXPECT_EQ(J_island[i * nefc_island + j], J[efc * nv + dof]);
}
}
}
}
mju_free(iJ);