chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Sparse ten_J and ten_J_colind memory

Browse Source 
PiperOrigin-RevId: 868834376
Change-Id: Iec92d9e09e3134666895e54a78cb02439d74a4de
This commit is contained in:
Google DeepMind
2026-02-11 14:04:45 -08:00
committed by Copybara-Service
parent b466829482
commit 336e1026a4
21 changed files with 43 additions and 118 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/mujoco/mjxmacro.h
+7 -3
View File
@@ -240,7 +240,6 @@
X( npaths ) \
X( nnames_map ) \
X( nJmom ) \
X( nJten ) \
X( ngravcomp ) \
X( nemax ) \
X( njmax ) \
@@ -799,6 +798,11 @@
//-------------------------------- mjData ----------------------------------------------------------
// define symbols needed in MJDATA_POINTERS (corresponding to number of columns)
#define MJDATA_POINTERS_PREAMBLE( m ) \
int nv = m->nv;
// pointer fields of mjData
// XNV means that the field is not required to construct mjvScene
// (by default we define XNV to be the same as X)
@@ -851,8 +855,8 @@
X ( int, ten_wrapnum, ntendon, 1 ) \
X ( int, ten_J_rownnz, ntendon, 1 ) \
X ( int, ten_J_rowadr, ntendon, 1 ) \
X ( int, ten_J_colind, nJten, 1 ) \
X ( mjtNum, ten_J, nJten, 1 ) \
X ( int, ten_J_colind, ntendon, MJ_M(nv) ) \
X ( mjtNum, ten_J, ntendon, MJ_M(nv) ) \
X ( mjtNum, ten_length, ntendon, 1 ) \
X ( int, wrap_obj, nwrap, 2 ) \
X ( mjtNum, wrap_xpos, nwrap, 6 ) \