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Precompute mappings between M <-> D sparse representations.

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PiperOrigin-RevId: 670898353
Change-Id: I4b15477b1b6eb4a64cf7d4a0bb5af8fcb95d4e45
This commit is contained in:
Yuval Tassa
2024-09-04 02:56:05 -07:00
committed by Copybara-Service
parent 303e5e7718
commit 42eb669e4e
11 changed files with 156 additions and 79 deletions
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unity/Runtime/Bindings/MjBindings.cs
+2
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@@ -4924,6 +4924,8 @@ public unsafe struct mjData_ {
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;