Sparse ten_J and ten_J_colind memory

PiperOrigin-RevId: 868834376 Change-Id: Iec92d9e09e3134666895e54a78cb02439d74a4de
2026-02-11 14:04:45 -08:00
parent b466829482
commit 336e1026a4
21 changed files with 43 additions and 118 deletions
@@ -754,7 +754,6 @@ struct mjModel_ {
  // sizes set after mjModel construction
  mjtSize nnames_map;             // number of slots in the names hash map
  mjtSize nJmom;                  // number of non-zeros in sparse actuator_moment matrix
-  mjtSize nJten;                  // number of non-zeros in sparse ten_J matrix
  mjtSize ngravcomp;              // number of bodies with nonzero gravcomp
  mjtSize nemax;                  // number of potential equality-constraint rows
  mjtSize njmax;                  // number of available rows in constraint Jacobian (legacy)