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Remove mjData.qM

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PiperOrigin-RevId: 942520660
Change-Id: I422358e299ca0fcfe4c49cd0ee90c014a4c319d7
This commit is contained in:
Yuval Tassa
2026-07-04 09:38:07 -07:00
committed by Copybara-Service
parent 7c6f519879
commit 315bcfbf3a
16 changed files with 14 additions and 76 deletions
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src/engine/engine_inverse.c
+2 -2
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@@ -132,10 +132,10 @@ static void mj_discreteAcc(const mjModel* m, mjData* d) {
// compute qDeriv
mjd_smooth_vel(m, d, /* flg_bias = */ 1);
// gather qLU <- qM (lower to full)
// gather qLU <- M (lower to full)
mju_gatherMasked(d->qLU, d->M, m->mapM2D, nD);
// set qLU = qM - dt*qDeriv
// set qLU = M - dt*qDeriv
mju_addToScl(d->qLU, d->qDeriv, -m->opt.timestep, m->nD);
// set qfrc = qLU * qacc