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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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unity/Runtime/Bindings/MjBindings.cs
-10
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@@ -5001,12 +5001,7 @@ public unsafe struct mjData_ {
public int* efc_J_rowadr;
public int* efc_J_rowsuper;
public int* efc_J_colind;
public int* efc_JT_rownnz;
public int* efc_JT_rowadr;
public int* efc_JT_rowsuper;
public int* efc_JT_colind;
public double* efc_J;
public double* efc_JT;
public double* efc_pos;
public double* efc_margin;
public double* efc_frictionloss;
@@ -5043,12 +5038,7 @@ public unsafe struct mjData_ {
public int* iefc_J_rowadr;
public int* iefc_J_rowsuper;
public int* iefc_J_colind;
public int* iefc_JT_rownnz;
public int* iefc_JT_rowadr;
public int* iefc_JT_rowsuper;
public int* iefc_JT_colind;
public double* iefc_J;
public double* iefc_JT;
public double* iefc_frictionloss;
public double* iefc_D;
public double* iefc_R;