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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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unity/Runtime/Bindings/MjBindings.cs
+9 -4
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@@ -4921,14 +4921,18 @@ public unsafe struct mjData_ {
public double* subtree_angmom;
public double* qH;
public double* qHDiagInv;
public int* B_rownnz;
public int* B_rowadr;
public int* B_colind;
public int* C_rownnz;
public int* C_rowadr;
public int* C_colind;
public int* mapM2C;
public int* D_rownnz;
public int* D_rowadr;
public int* D_colind;
public int* mapM2D;
public int* mapD2M;
public int* B_rownnz;
public int* B_rowadr;
public int* B_colind;
public double* qDeriv;
public double* qLU;
public double* actuator_force;
@@ -5222,8 +5226,9 @@ public unsafe struct mjModel_ {
public int nnames_map;
public int npaths;
public int nM;
public int nD;
public int nB;
public int nC;
public int nD;
public int ntree;
public int ngravcomp;
public int nemax;