Store index of diagonal element for C and D in mjData.

PiperOrigin-RevId: 704287869 Change-Id: I15d1faa0b5c3ff54721f692ec6329726456ec318
2024-12-09 08:00:29 -08:00
parent b8344c191f
commit 3a14ada308
10 changed files with 67 additions and 18 deletions
@@ -4940,10 +4940,12 @@ public unsafe struct mjData_ {
  public int* B_colind;
  public int* C_rownnz;
  public int* C_rowadr;
+  public int* C_diag;
  public int* C_colind;
  public int* mapM2C;
  public int* D_rownnz;
  public int* D_rowadr;
+  public int* D_diag;
  public int* D_colind;
  public int* mapM2D;
  public int* mapD2M;