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Add reduced sparse dof-dof matrix structures to mjData.

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PiperOrigin-RevId: 670919263
Change-Id: I3592de802ae84648d97230115c2e9c3437424968
This commit is contained in:
Yuval Tassa
2024-09-04 04:22:43 -07:00
committed by Copybara-Service
parent 42eb669e4e
commit 3437361bfb
14 changed files with 265 additions and 201 deletions
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include/mujoco/mjmodel.h
+2 -1
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@@ -659,8 +659,9 @@ struct mjModel_ {
// sizes set after mjModel construction (only affect mjData)
int nM; // number of non-zeros in sparse inertia matrix
int nD; // number of non-zeros in sparse dof-dof matrix
int nB; // number of non-zeros in sparse body-dof matrix
int nC; // number of non-zeros in sparse reduced dof-dof matrix
int nD; // number of non-zeros in sparse dof-dof matrix
int ntree; // number of kinematic trees under world body
int ngravcomp; // number of bodies with nonzero gravcomp
int nemax; // number of potential equality-constraint rows