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Migrate mjtByte to mjtBool for boolean-valued fields.

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PiperOrigin-RevId: 921408093
Change-Id: Icb00457836359779f0f72fc02d6a7c0dc9f6bd23
This commit is contained in:
Yuval Tassa
2026-05-26 05:35:15 -07:00
committed by Copybara-Service
parent 3cabb2eb8e
commit 393c1e4217
33 changed files with 242 additions and 224 deletions
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src/engine/engine_util_solve.c
+2 -2
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@@ -664,7 +664,7 @@ int mju_bandDiag(int i, int ntotal, int nband, int ndense) {
// convert band matrix to dense matrix
void mju_band2Dense(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense,
mjtByte flg_sym) {
mjtBool flg_sym) {
int nsparse = ntotal-ndense;
// clear all
@@ -717,7 +717,7 @@ void mju_dense2Band(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int n
// multiply band-diagonal matrix with vector
void mju_bandMulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
int ntotal, int nband, int ndense, int nvec, mjtByte flg_sym) {
int ntotal, int nband, int ndense, int nvec, mjtBool flg_sym) {
int nsparse = ntotal-ndense;
// handle multiple vectors