chenlin/Mujoco_WASM
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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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test/engine/engine_core_smooth_test.cc
-1
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@@ -227,7 +227,6 @@ TEST_F(CoreSmoothTest, TendonArmature) {
// put only CRB inertia in M2
mj_crb(m, d);
mju_scatter(d->qM, d->M, m->mapM2M, m->nC);
vector<mjtNum> M2(nv * nv);
mj_fullM(m, d, M2.data());
test/user/user_flex_test.cc
+3 -3
View File
@@ -390,9 +390,9 @@ TEST_F(UserFlexTest, TrilinearInterpolation) {
EXPECT_NEAR(d1->flexvert_xpos[i], d2->flexvert_xpos[i], 1e-7);
}
EXPECT_EQ(m1->nM, m2->nM);
for (int i = 0; i < m1->nM; ++i) {
EXPECT_EQ(d1->qM[i], d2->qM[i]);
EXPECT_EQ(m1->nC, m2->nC);
for (int i = 0; i < m1->nC; ++i) {
EXPECT_EQ(d1->M[i], d2->M[i]);
}
EXPECT_EQ(m1->nbody, m2->nbody);