Use mjData.M where appropriate

PiperOrigin-RevId: 758374391 Change-Id: I9de7af7be8e41b5c300d0a04ea99082b4cefdec6
2025-05-13 14:21:41 -07:00
parent 79c74d7eae
commit 4186589738
5 changed files with 23 additions and 42 deletions
@@ -861,7 +861,7 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
  else {
    if (!skipfactor) {
      // qH = M + h*diag(B)
-      mju_gather(d->qH, d->qM, d->mapM2C, nC);
+      mju_copy(d->qH, d->M, nC);
      for (int i=0; i < nv; i++) {
        d->qH[d->C_rowadr[i] + d->C_rownnz[i] - 1] += m->opt.timestep * m->dof_damping[i];
      }